In this paper, we study the adaptive fuzzy formation control of multiple autonomous agents with prioritized missions. For a platoon of autonomous gents in an unknown environment containing multiple obstacles, formation control, is investigated, where each agent is modeled by a second order nonlinear system under unknown external disturbance in the Brunovsky form. We introduce the systematic procedure of null-space-based projection to convert the prioritized multi-mission control problem into a behavioral control problem. Then, we further develop a class of nonlinear fast terminal sliding mode (NFTSM) based adaptive control strategies that combine the fuzzy logic systems (FLS) by jointly considering both kinematic and dynamic levels of the agents. The proposed controllers can guarantee each individual agent to achieve the predesigned desired pattern, and drive the entire systems to achieve the prescribed missions. A simulation example with five agents demonstrates the effectiveness of the algorithm. Finally, the strategies are experimentally validated using a platoon of Pioneer 3AT and 3DX mobile robots.